{
  "cells": [
    {
      "cell_type": "markdown",
      "id": "2b6fc012",
      "metadata": {},
      "source": [
        "# NonlinearISAM\n",
        "\n",
        "## Overview\n",
        "\n",
        "The `NonlinearISAM` class wraps the incremental factorization version of iSAM {cite:p}`http://dx.doi.org/10.1109/TRO.2008.2006706`. It is largely superseded by [iSAM2](./ISAM2.ipynb) but it is a simpler class, with less bells and whistles, that might be easier to debug. For background, also see the more recent booklet by {cite:t}`https://doi.org/10.1561/2300000043`.\n"
      ]
    },
    {
      "cell_type": "markdown",
      "id": "colab_button",
      "metadata": {},
      "source": [
        "<a href=\"https://colab.research.google.com/github/borglab/gtsam/blob/develop/gtsam/nonlinear/doc/NonlinearISAM.ipynb\" target=\"_parent\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>"
      ]
    },
    {
      "cell_type": "markdown",
      "id": "license_cell",
      "metadata": {
        "tags": [
          "remove-cell"
        ]
      },
      "source": [
        "GTSAM Copyright 2010-2022, Georgia Tech Research Corporation,\nAtlanta, Georgia 30332-0415\nAll Rights Reserved\n\nAuthors: Frank Dellaert, et al. (see THANKS for the full author list)\n\nSee LICENSE for the license information"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "id": "colab_import",
      "metadata": {
        "tags": [
          "remove-cell"
        ]
      },
      "outputs": [],
      "source": [
        "try:\n    import google.colab\n    %pip install --quiet gtsam-develop\nexcept ImportError:\n    pass"
      ]
    }
  ],
  "metadata": {
    "language_info": {
      "name": "python"
    }
  },
  "nbformat": 4,
  "nbformat_minor": 5
}